sphere_capsule.cpp

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#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule-inl.h"

namespace fcl
{

namespace detail
{

//==============================================================================
template
void lineSegmentPointClosestToPoint(
    const Vector3<double> &p,
    const Vector3<double> &s1,
    const Vector3<double> &s2,
    Vector3<double> &sp);

//==============================================================================
template
bool sphereCapsuleIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
                            const Capsule<double>& s2, const Transform3<double>& tf2,
                            std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool sphereCapsuleDistance(const Sphere<double>& s1, const Transform3<double>& tf1,
                           const Capsule<double>& s2, const Transform3<double>& tf2,
                           double* dist, Vector3<double>* p1, Vector3<double>* p2);

} // namespace detail
} // namespace fcl